JP2002253481A - Flexible endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flexible endoscope by which a bending state of an inserting part flexible tube which is inserted to the body and its change are continuously detected and displayed without exposure to radiation. SOLUTION: The endoscope consists of bending state detecting means 30 and 40 which are provided with multiple flexible bending detection optical fibers 21 having a bending detection part 22 where a light transmission amount is changed in accordance with the largeness of a bending angle, where the multiple bending detection parts 22 are arranged in a row in the axial direction of the inserting part flexible tube 1 and which detect the bending state of the inserting part flexible tube 1 in a part where each bending detection part 22 is positioned by the light transmission amount of each bending detection optical fiber 21 and also consists of a bending state display means 41 for displaying the bending state of the whole inserting part flexible tube 1, which is detected by the bending state detecting means 30 and 40, on a monitor screen.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flexible endoscope for observing the inside of the GI and the like.

[0002]

2. Description of the Related Art A flexible endoscope apparatus to be inserted into the gastrointestinal tract or the like has a flexible insertion section flexible tube which bends freely along the inner wall of the stomach and the like. It is difficult to grasp the bending state of the body from outside.

[0003] For this reason, it is difficult to determine the insertion state of the flexible tube in the gastrointestinal tract,
In some cases, it may not be possible to determine how to perform the next insertion / removal operation.

[0004] Therefore, if the X-ray fluoroscopy is performed, the bent state of the flexible tube of the insertion portion can be fluoroscopy, but the X-ray irradiation must be performed in a special room surrounded by a thick lead wall or the like. However, continuous fluoroscopy has the problem of radiation exposure and can have a very bad effect on the human body.

Therefore, a magnetic field generating member is attached to the distal end of the insertion section of the endoscope, and the position of the magnetic field generating member is detected by a magnetic sensor arranged outside the human body, and the position of the distal end of the insertion section inside the body is determined. There is one that is displayed on a monitor screen (Japanese Patent No. 2959723).

[0006]

However, in the device for detecting the position of the magnetic field generating member attached to the distal end of the insertion section as described above, the bending of the flexible tube of the insertion section is only required by knowing the position of the distal end of the insertion section. The state is unknown, and such a device is susceptible to external noise, and in many cases, position detection cannot be continued in a good state.

Accordingly, the present invention provides a flexible endoscope apparatus capable of continuously detecting and displaying the bending state of the flexible tube inserted into the body and its change without radiation exposure. The purpose is to.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, a flexible endoscope apparatus according to the present invention is formed by bending a flexible endoscope apparatus having a flexible insertion portion flexible tube. A plurality of flexible bend detection optical fibers having a bend detection unit that changes the amount of light transmission according to the size of the angle are provided, and the plurality of bend detection units are arranged along the axis of the flexible tube of the insertion unit. A bending state detecting means for detecting a bending state of the insertion portion flexible tube in a portion where each bending detecting section is located from a light transmission amount of each bending detection optical fiber; and an insertion section detected by the bending state detecting means. And a bent state display means for displaying the bent state of the entire flexible tube on a monitor screen.

The bend detecting portion may be one in which a light absorbing portion is formed only in a predetermined direction in the middle of the bend detecting optical fiber, and a plurality of bend detecting optical fibers are formed on a single flexible band-shaped member. A configuration may be adopted in which the belt-shaped member is attached to the insertion section flexible tube.

A second plurality of bend detecting optical fibers having a second bend detecting section arranged in parallel with each of the bend detecting sections are arranged, and the bending is performed based on the light transmission amounts of both the bend detecting optical fibers. The state detecting means may detect a three-dimensional bending state of the insertion portion flexible tube, and display the bending state on a monitor screen. In this case, the first and second plurality of bending detecting optical fibers are used. However, they may be separately mounted on the back side and the front side of one band-shaped member.

In addition, an insertion portion guide member through which the insertion portion flexible tube passes is provided, and an insertion length detecting means for detecting a passage length of the insertion portion flexible tube with respect to the insertion portion guide member is provided. Alternatively, the position of the insertion portion guide member together with the bent state of the insertion portion flexible tube may be displayed on the monitor screen.

[0012] When the insertion portion guide member is displayed on the monitor screen in a state where the insertion portion guide member does not move, the display becomes easy to make a judgment in correspondence with the reality.

[0013]

Embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows the entire configuration of the flexible endoscope apparatus, in which the lower end of the operation section 2 is connected to the base end of the insertion section flexible tube 1. The bending portion 1a is bent in an arbitrary direction by rotating the operation knob 3 disposed on the operation portion 2.

A distal end main body 4 in which an observation window and the like are arranged is connected to the distal end of the insertion section flexible tube 1.
A video signal of an endoscope observation image picked up by a solid-state image pickup device (not shown) incorporated in the endoscope is sent to an external video processor 7 via a video signal line 6 extending from the operation unit 2, The observation image is displayed on the observation image monitor 8.

The flexible tube 1 is made of a flexible synthetic resin in which a plurality of bend detecting optical fibers, which will be described later, are disposed in the extension direction of the front surface of the operation unit 2 (ie, in the upward direction on the observation screen). Is attached, and the base end thereof is connected to the optical signal input / output device 30.

The signal output line of the optical signal input / output device 30 is connected to a computer 40,
Is connected to an insertion state display monitor 41 for displaying an image using a cathode ray tube or a liquid crystal.

FIG. 1 shows the vicinity of the distal end of the flexible tube 1 of the insertion section, and the observation window 11 and the illumination window 1 are provided on the distal end surface of the distal end body 4.
2. The treatment tool outlet 13 and the like are arranged, and the subject illuminated by the illumination light radiated from the illumination window 12
An image is formed on an imaging surface of a solid-state imaging device by an objective optical system (not shown) disposed in the inside.

As shown in FIG. 3, which shows a cross section taken along the line III-III, the belt-shaped member 20 is in close contact with the outer surface of the insertion section flexible tube 1 in the "upward direction", and is aligned with the axis of the insertion section flexible tube 1. They are arranged in a parallel direction, and are wrapped by the heat-shrinkable tube 14 together with the flexible tube 1 of the insertion portion from the outside, for example, and pressed and fixed.

However, the fixing of the band-shaped member 20 to the insertion portion flexible tube 1 may be performed by bonding or any other means. The flexible tube structure 10 located inside the heat-shrinkable tube 14 is constituted by covering a metal spiral tube with a mesh tube, and further covering the outer surface with a flexible tube outer skin.

As shown in FIG. 1, the plurality of bend detecting optical fibers 21 are sequentially changed in position and bent back in a smooth U-shape. Then, a bend detecting unit 22 is provided in the vicinity of the bent back portion of each bend detecting optical fiber 21.
Are formed.

The bend detecting section 22 is spaced, for example, by about several centimeters in the axial direction of the flexible tube 1 of the insertion section.
For example, about 5 to 30 pieces are arranged over the entire length of the insertion portion flexible tube 1.

The bend detecting unit 22 is a bend detecting optical fiber 2 having a plastic core covered with a clad.
The light absorbing portion is formed only in a predetermined direction (for example, upward or downward) in the middle part of 1, and the light transmission amount changes according to the degree to which the bend detecting unit 22 is bent. Therefore, by detecting this, it is possible to detect the bending angle of the portion where the bending detecting unit 22 is disposed.

The principle is described in US Pat. No. 56,334.
As described in No. 94, etc., it will be briefly described below. In FIG. 4, reference numerals 21a and 21b denote a core and a clad of a single bend detecting optical fiber 21, and the bend detecting unit 22 absorbs light passing through the core 21a without totally reflecting the light into the core 21a. The light absorbing portion 22a that is formed is formed in a portion of the clad 21b in a specific direction (here, “downward”).

Then, as shown in FIG. 5, when the bending detection optical fiber 21 is bent upward, the core 2 is bent.
Since the amount (area) of light falling on the light absorbing portion 22a among the light passing through the inside 1a increases, the bending detection optical fiber 21
Of the light is reduced.

Conversely, as shown in FIG. 6, when the bending detecting optical fiber 21 is bent downward, the core 21 is bent.
Since the amount (area) of light falling on the light absorbing portion 22a among the light passing through the inside a decreases, the light transmission amount of the bend detection optical fiber 21 increases.

Since the amount of bending and the amount of light transmission of the bending detecting optical fiber 21 in the light absorbing portion 22a have a fixed relationship (for example, a linear function relationship), the amount of light transmission of the bending detecting optical fiber 21 is reduced. By detecting this, the bending detecting section 22 in which the light absorbing section 22a is formed
The bending angle of the part can be detected.

Therefore, when a plurality of bend detectors 22 are arranged at intervals in the axial direction of the flexible tube 1 of the insertion portion, the interval between the bend detectors 22 and each of the detected bend detectors are determined. The bending state of the entire flexible tube 1 in the vertical direction can be detected from the bending angle of 22.

Then, as schematically shown in FIG. 7, a second bend detecting section 22 'is further arranged in parallel with the above-described bend detecting section 22, so that the two bend detecting sections 22, Comparing the light transmission amounts 22 ', there is no difference between the two light transmission amounts when there is no twist in the left-right direction, and the difference between the two light transmission amounts increases according to the twist amount in the left-right direction.

Therefore, each of the bend detecting sections 22, 22 '
By measuring the amount of light transmission of the light and comparing the measured values, it is possible to detect the amount of twist in the left-right direction of the portion where the bend detecting units 22, 22 'are arranged. This principle is as described in US Pat. No. 6,127,672 and the like.

Therefore, the plurality of bend detecting portions 22 are arranged at predetermined intervals in the axial direction of the insertion portion flexible tube 1, and the second plurality of bend detecting portions 22 'are arranged in parallel with the plurality of bend detecting portions 22. By detecting and comparing the amounts of light transmitted by the detection units 22 and 22 ', the three-dimensional bending state of the entire flexible tube 1 can be detected.

Therefore, in the flexible endoscope apparatus of the present embodiment, as shown in FIG. 8, a plurality of bends are provided so that the bend detecting portions 22 are located at regular intervals in the longitudinal direction of the belt-shaped member 20. The detection optical fiber 21 is attached to the front side of the band-shaped member 20 and the band-shaped member is arranged such that the second bend detection unit 22 ′ is arranged beside each of the bend detection units 22 on the front side as shown in a cross section in FIG. A second plurality of bend detecting optical fibers 21 ′ are attached to the back surface side of 20.

At least one simple reference optical fiber 21R having no light absorbing portion 22a is arranged, and the light transmission amount of each bending detection optical fiber 21 is compared with the light transmission amount of the reference optical fiber 21R. The optical fiber 2 for bending detection
The influence of temperature, deterioration with time, etc. on the amount of light transmission can be eliminated.

FIG. 9 shows an optical signal input / output device 30, in which light emitted from one light emitting diode 31 is incident on all the optical fibers 21, 21 ', 21R. 32
Is a drive circuit for the light emitting diode 31.

The optical fibers 21, 21 ', 2
A photodiode 33 for converting the light intensity level into a voltage level and outputting the voltage level is disposed at each exit end of 1R.
The output from each photodiode 33 is amplified by an amplifier 34, converted into a digital signal by an analog / digital converter 35, and sent to a computer 40.

When the insertion tube 1 of the flexible endoscope apparatus thus constructed is inserted into the body, as shown in FIG. 10, the insertion portion guide member 50 is inserted into the body. Attached to the entrance (eg, mouth or anus), the flexible insertion tube 1 is passed through the insertion guide member 50.

Therefore, the insertion portion guide member 50 is provided with an encoder 60 or the like for detecting the insertion length L of the insertion portion flexible tube 1 (ie, the length of passage through the insertion portion guide member 50). Output signal of computer 4
0.

FIG. 11 shows such an insertion portion guide member 50.
A plurality of rotatable spherical members 51 urged by a compression coil spring 52 are arranged so as to sandwich the flexible tube 1 from the periphery.

Accordingly, each of the spherical members 51 rotates in proportion to the insertion length L of the flexible tube 1 in the insertion portion, and one of the spherical members 51 is proportional to the insertion length L of the flexible tube 1 in the insertion portion. An encoder 60 that outputs a number of pulses is connected.

However, the detection of the insertion length L of the insertion section flexible tube 1 in the insertion section guide member 50 is described in, for example, Japanese Patent Laid-Open No. 56-9 / 1981.
As described in US Pat. No. 7,429, JP-A-60-217326, etc., light reflection from the surface of the flexible tube 1 may be used, or other means may be used.

In this manner, as shown in FIG. 10, the bending state detection signal and the insertion length detection signal of the insertion section flexible tube 1 are input to the computer 40 from the optical signal input / output device 30 and the encoder 60. Image 5 of insertion portion guide member 50
0 ′ and an image 1 ′ indicating the bent state of the insertion section flexible tube 1 are displayed on the insertion state display monitor 41.

At this time, the image 5 of the insertion portion guide member 50
The display position of 0 'is fixed on the insertion state display monitor 41, and the image 1' showing the bent state of the insertion portion flexible tube 1 in the portion inserted in front of it is displayed as a change in the insertion portion flexible tube 1. , The state of the flexible tube 1 in the body can be easily grasped.

FIG. 12 is a flowchart showing an outline of software contents of the computer 40 for displaying such an image on the insertion state display monitor 41, and S in the figure indicates a step.

In order to display the accurate bending state on the insertion state display monitor 41, first, before inserting the insertion section flexible tube 1 into the body, the insertion section flexible tube 1 of the endoscope actually used is used. It is preferable to carry out calibration for comparing the bending angle of the optical fiber with the detection signal obtained from the bending detection optical fiber 21 (S1).

When the insertion section flexible tube 1 is inserted into the body, a detection signal of the insertion length L of the insertion section 1 is input from the encoder 60 (S2), and the insertion section guide member 50 causes the insertion section flexible tube 1 to move. Is calculated (S3).

Next, each bend detecting optical fiber 21
Detection signal V ₁ ... by entering from (S4), and converts the detection signal V ₁ ... the skew angle based on the calibration data (S5), the bending angle of the bending detection section 22 portion, three-dimensional Each bend detection unit 22 on coordinates
Is calculated (S6).

Then, the position of the image 50 'of the insertion portion guide member 50 is not moved on the insertion state display monitor 41, and the positions of the bending detecting portions 22 are smoothly connected to be displayed. The bent state of the tube 1 is displayed (S7), the process returns to S2, and S2 to S7 are repeated.

When such a display is performed, the display on the insertion state display monitor 41 is a two-dimensional image, but since three-dimensional data on the position of each bend detecting unit 22 has been obtained, “upward” In addition, it is possible to display the bent state of the flexible tube 1 in any rotational direction.

The spherical member 51 of the insertion portion guide member 50
To detect the direction of rotation of the flexible tube 1 around the axis,
If the display image of the insertion state display monitor 41 is rotated in accordance with the amount of rotation of the insertion section flexible tube 1 around the axis, image display is performed as if the orientation of the patient's body was fixed on the insertion state display monitor 41. Can be done.

[0049]

According to the present invention, the bending detecting portions of a plurality of flexible bending detecting optical fibers are arranged side by side in the axial direction of the insertion portion flexible tube, and the amount of light transmitted by each bending detecting optical fiber is detected. By performing the treatment, the bent state of the flexible tube inserted into the body can be detected and displayed continuously without exposure to radiation.

[Brief description of the drawings]

FIG. 1 is a perspective view of the vicinity of a distal end of a flexible tube of an insertion portion of a flexible endoscope apparatus according to an embodiment of the present invention.

FIG. 2 is a schematic view of the entire configuration (excluding an insertion portion guide member) of the flexible endoscope device according to the embodiment of the present invention.

FIG. 3 is a cross-sectional view (a cross-sectional view taken along the line III-III in FIG. 1) of the insertion portion flexible tube according to the embodiment of the present invention, taken along a cross section perpendicular to the axis.

FIG. 4 is a schematic cross-sectional view of a bend detecting unit of the bend detecting optical fiber used in the embodiment of the present invention.

FIG. 5 is a schematic cross-sectional view showing a state in which a bend detection unit of a bend detection optical fiber used in an embodiment of the present invention is bent.

FIG. 6 is a schematic cross-sectional view showing a state in which a bend detection unit of a bend detection optical fiber used in an embodiment of the present invention is bent in a reverse direction.

FIG. 7 is a schematic diagram for explaining the principle of three-dimensional bending state detection by the bending detection optical fiber used in the embodiment of the present invention.

FIG. 8 is a plan view of a belt-shaped member to which the optical fiber for bending detection according to the embodiment of the present invention is attached.

FIG. 9 is a circuit diagram of an optical signal input / output device according to an embodiment of the present invention.

FIG. 10 is a schematic diagram illustrating an overall configuration of a flexible endoscope device according to an embodiment of the present invention in a use state.

FIG. 11 is a front sectional view of an insertion portion guide member according to the embodiment of the present invention.

FIG. 12 is a flowchart schematically illustrating software contents of a computer according to the embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 insertion section flexible tube 1 ′ image of bent state of insertion section flexible tube 20 band-shaped member 21, 21 ′ bend detection optical fiber 22, 22 ′ bend detection section 30 optical signal input / output device 40 computer 41 insertion state display monitor 50 Insertion part guide member 50 'Image of insertion part guide member 60 Encoder

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Kazuki Sumiyama 3-25-8 Nishi-Shimbashi, Minato-ku, Tokyo School Law Inside Jinkei University (72) Inventor Tetsuya Tarumoto 2-36 Maenocho, Itabashi-ku, Tokyo 9 Asahi Gaku Kogyo Co., Ltd. (72) Inventor Minoru Matsushita 2-36-9 Maenocho, Itabashi-ku, Tokyo Asahi Gakugaku Kogyo Co., Ltd. (72) Kenichi Ohara 2-36, Maenocho, Itabashi-ku, Tokyo 9 Asahi Gaku Kogyo Co., Ltd. (72) Inventor Toshiyuki Hashiyama 2-36-9 Maenocho, Itabashi-ku, Tokyo F-term in Asahi Gaku Kogyo Co., Ltd. 2H040 BA00 BA23 CA11 DA54 GA11 4C061 DD03 FF24 FF46 HH51 JJ17 WW11 5C022 AA08 AC11

Claims (7)

[Claims] 1. A flexible endoscope device having a flexible insertion portion and a flexible tube, wherein a flexible bend detection unit has a bend detection unit in which a light transmission amount changes in accordance with a bent angle. A plurality of optical fibers are provided, and the plurality of bend detecting portions are arranged side by side in the axial direction of the insertion portion flexible tube, and a portion where each of the bend detecting portions is located based on a light transmission amount of each of the bend detecting optical fibers. A bent state detecting means for detecting a bent state of the flexible tube of the insertion portion, and a bent state display means for displaying a bent state of the entire flexible tube of the inserted portion detected by the bent state detecting means on a monitor screen And a flexible endoscope device. 2. The flexible endoscope apparatus according to claim 1, wherein the bending detecting section has a light absorbing section formed only in a predetermined direction in the middle of the bending detecting optical fiber. 3. The flexible member according to claim 1, wherein the plurality of bending detecting optical fibers are attached to a single flexible band-shaped member, and the band-shaped member is attached to the insertion portion flexible tube. Sex endoscope device. 4. A second plurality of bend detecting optical fibers having a second bend detecting unit disposed in parallel with each of the bend detecting units, wherein a plurality of bend detecting optical fibers are arranged. 3. The bending state detecting means detects a three-dimensional bending state of the insertion portion flexible tube, and displays the bending state on the monitor screen.
Or the flexible endoscope device according to 3. 5. A flexible endoscope apparatus according to claim 4, wherein said first and second plurality of bending detecting optical fibers are separately mounted on the back side and the front side of a single band-shaped member. . 6. An insertion portion guide member through which the flexible tube of the insertion portion passes is provided, and an insertion length detecting means for detecting a length of passage of the flexible tube of the insertion portion with respect to the insertion portion guide member is provided. The flexible endoscope apparatus according to any one of claims 1 to 5, wherein the position of the insertion portion guide member is displayed on the monitor screen together with the bent state of the insertion portion flexible tube. 7. The flexible endoscope device according to claim 6, wherein the monitor is displayed on the monitor screen in a state where the insertion portion guide member does not move.